Regen shows positive current near zero speed (VESC)

[prayoga]

Hey guys,

I’m seeing something a bit confusing with regen on my VESC setup.

When the motor is spinning, negative current works as expected (regen).
But when the speed drops close to zero, I sometimes see the motor current go positive, even though I’m still commanding negative current.

I don’t feel any forward torque, it just shows up in the logs.

Is this normal behavior at low speed?
What could be causing this?

 

[ak136]

I think this is just handbrake aligning the rotor with the field

Sometimes when my bike is stationary and I press and release regen brake lever then bike moves a little sometimes forward or sometimes reverse